formatted the code

This commit is contained in:
ishak jmilou.ishak
2024-10-01 12:19:28 +02:00
parent f1225711ce
commit aa2e141db6

View File

@@ -1,91 +1,80 @@
#include "CKobuki.h"
#include "termios.h"
#include "errno.h"
#include "termios.h"
#include <cstddef>
#include <iostream>
// plot p;
static std::vector<float> vectorX;
static std::vector<float> vectorY;
static std::vector<float> vectorGyroTheta;
// obsluha tty pod unixom
int set_interface_attribs2 (int fd, int speed, int parity)
{
int set_interface_attribs2(int fd, int speed, int parity) {
struct termios tty;
memset (&tty, 0, sizeof tty);
if (tcgetattr (fd, &tty) != 0)
{
printf ("error %d from tcgetattr", errno);
memset(&tty, 0, sizeof tty);
if (tcgetattr(fd, &tty) != 0) {
printf("error %d from tcgetattr", errno);
return -1;
}
cfsetospeed (&tty, speed);
cfsetispeed (&tty, speed);
cfsetospeed(&tty, speed);
cfsetispeed(&tty, speed);
tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
// disable IGNBRK for mismatched speed tests; otherwise receive break
// as \000 chars
//tty.c_iflag &= ~IGNBRK; // disable break processing
// tty.c_iflag &= ~IGNBRK; // disable break processing
tty.c_lflag = 0; // no signaling chars, no echo,
// no canonical processing
tty.c_oflag = 0; // no remapping, no delays
tty.c_cc[VMIN] = 0; // read doesn't block
tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
tty.c_iflag &= ~(IGNBRK | INLCR | ICRNL | IXON | IXOFF | IXANY); // shut off xon/xoff ctrl
tty.c_iflag &= ~(IGNBRK | INLCR | ICRNL | IXON | IXOFF |
IXANY); // shut off xon/xoff ctrl
tty.c_cflag |= (CLOCAL | CREAD);// ignore modem controls,
tty.c_cflag |= (CLOCAL | CREAD); // ignore modem controls,
// enable reading
tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
tty.c_cflag |= parity;
tty.c_cflag &= ~CSTOPB;
tty.c_cflag &= ~CRTSCTS;
if (tcsetattr (fd, TCSANOW, &tty) != 0)
{
printf ("error %d from tcsetattr", errno);
if (tcsetattr(fd, TCSANOW, &tty) != 0) {
printf("error %d from tcsetattr", errno);
return -1;
}
return 0;
}
void set_blocking2 (int fd, int should_block)
{
void set_blocking2(int fd, int should_block) {
struct termios tty;
memset (&tty, 0, sizeof tty);
if (tcgetattr (fd, &tty) != 0)
{
printf ("error %d from tggetattr", errno);
memset(&tty, 0, sizeof tty);
if (tcgetattr(fd, &tty) != 0) {
printf("error %d from tggetattr", errno);
return;
}
tty.c_cc[VMIN] = should_block ? 1 : 0;
tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
if (tcsetattr (fd, TCSANOW, &tty) != 0)
printf ("error %d setting term attributes", errno);
if (tcsetattr(fd, TCSANOW, &tty) != 0)
printf("error %d setting term attributes", errno);
}
int CKobuki::connect(char *comportT) {
HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
int CKobuki::connect(char * comportT)
{
HCom= open(comportT,O_RDWR|O_NOCTTY|O_NONBLOCK);
if ( HCom== -1 )
{
if (HCom == -1) {
printf("Kobuki nepripojeny\n");
return HCom;
}
else
{
set_interface_attribs2 (HCom, B115200, 0); // set speed to 115,200 bps, 8n1 (no parity)
set_blocking2 (HCom, 0); // set no blocking
} else {
set_interface_attribs2(HCom, B115200,
0); // set speed to 115,200 bps, 8n1 (no parity)
set_blocking2(HCom, 0); // set no blocking
/* struct termios settings;
tcgetattr(HCom, &settings);
@@ -101,57 +90,50 @@ int CKobuki::connect(char * comportT)
tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
tcflush(HCom, TCOFLUSH);
printf("Kobuki pripojeny\n");
return HCom;
}
}
unsigned char * CKobuki::readKobukiMessage()
{
unsigned char *CKobuki::readKobukiMessage() {
unsigned char buffer[1];
ssize_t Pocet;
buffer[0] = 0;
unsigned char * null_buffer(0);
//citame kym nezachytime zaciatok spravy
unsigned char *null_buffer(0);
// citame kym nezachytime zaciatok spravy
do {
Pocet=read(HCom,buffer,1);
Pocet = read(HCom, buffer, 1);
} while (buffer[0] != 0xAA);
//mame zaciatok spravy (asi)
if (Pocet == 1 && buffer[0] == 0xAA)
{
//citame dalsi byte
// mame zaciatok spravy (asi)
if (Pocet == 1 && buffer[0] == 0xAA) {
// citame dalsi byte
do {
Pocet=read(HCom,buffer,1);
Pocet = read(HCom, buffer, 1);
} while (Pocet != 1); // na linuxe -1 na windowse 0
//a ak je to druhy byte hlavicky
if (Pocet == 1 && buffer[0] == 0x55)
{
// a ak je to druhy byte hlavicky
if (Pocet == 1 && buffer[0] == 0x55) {
// precitame dlzku
Pocet=read(HCom,buffer,1);
Pocet = read(HCom, buffer, 1);
// ReadFile(hCom, buffer, 1, &Pocet, NULL);
if (Pocet == 1)
{
//mame dlzku.. nastavime vektor a precitame ho cely
if (Pocet == 1) {
// mame dlzku.. nastavime vektor a precitame ho cely
int readLenght = buffer[0];
unsigned char *outputBuffer = (unsigned char*)calloc(readLenght+4,sizeof(char));
unsigned char *outputBuffer =
(unsigned char *)calloc(readLenght + 4, sizeof(char));
outputBuffer[0] = buffer[0];
int pct = 0;
do
{
do {
Pocet = 0;
int readpoc = (readLenght+1 - pct);
Pocet=read(HCom,outputBuffer+1+pct,readpoc);
int readpoc = (readLenght + 1 - pct);
Pocet = read(HCom, outputBuffer + 1 + pct, readpoc);
pct = pct + (Pocet == -1 ? 0 : Pocet);
} while (pct != (readLenght+1 ));
} while (pct != (readLenght + 1));
// tu si mozeme ceknut co chodi zo serial intefejsu Kobukiho
// for(int i=0;i<outputBuffer[0]+2;i++)
@@ -167,110 +149,131 @@ unsigned char * CKobuki::readKobukiMessage()
return null_buffer;
}
int CKobuki::checkChecksum(unsigned char * data)
{//najprv hlavicku
int CKobuki::checkChecksum(unsigned char *data) { // najprv hlavicku
unsigned char chckSum = 0;
for (int i = 0; i < data[0]+2; i++)
{
for (int i = 0; i < data[0] + 2; i++) {
chckSum ^= data[i];
}
return chckSum;//0 ak je vsetko v poriadku,inak nejake cislo
return chckSum; // 0 ak je vsetko v poriadku,inak nejake cislo
}
void CKobuki::setLed(int led1, int led2)
{
unsigned char message[8] = {0xaa,0x55,0x04,0x0c,0x02,0x00,(unsigned char)((led1+led2*4)%256),0x00};
void CKobuki::setLed(int led1, int led2) {
unsigned char message[8] = {0xaa,0x55, 0x04, 0x0c,0x02,0x00,(unsigned char)((led1 + led2 * 4) % 256),0x00};
message[7] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6];
uint32_t pocet;
pocet=write(HCom,&message,8);
pocet = write(HCom, &message, 8);
}
// tato funkcia nema moc sama o sebe vyznam, payload o tom, ze maju byt externe napajania aktivne musi byt aj tak v kazdej sprave...
void CKobuki::setPower(int value){
// tato funkcia nema moc sama o sebe vyznam, payload o tom, ze maju byt externe
// napajania aktivne musi byt aj tak v kazdej sprave...
void CKobuki::setPower(int value) {
if (value == 1) {
unsigned char message[8] = {0xaa,0x55,0x04,0x0C,0x02,0xf0,0x00,0xAF};
unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0C, 0x02, 0xf0, 0x00, 0xAF};
uint32_t pocet;
pocet = write(HCom,&message,8);
pocet = write(HCom, &message, 8);
}
}
void CKobuki::setTranslationSpeed(int mmpersec)
{
unsigned char message[14] = { 0xaa,0x55,0x0A,0x0c,0x02,0xf0,0x00,0x01,0x04,mmpersec%256,mmpersec>>8,0x00,0x00, 0x00 };
message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^ message[7] ^ message[8] ^ message[9] ^ message[10] ^ message[11] ^ message[12];
void CKobuki::setTranslationSpeed(int mmpersec) {
unsigned char message[14] = {0xaa, 0x55, 0x0A, 0x0c, 0x02,
0xf0, 0x00, 0x01, 0x04, mmpersec % 256,
mmpersec >> 8, 0x00, 0x00, 0x00};
message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
message[7] ^ message[8] ^ message[9] ^ message[10] ^
message[11] ^ message[12];
uint32_t pocet;
pocet=write(HCom,&message,14);
pocet = write(HCom, &message, 14);
}
void CKobuki::setRotationSpeed(double radpersec)
{
void CKobuki::setRotationSpeed(double radpersec) {
int speedvalue = radpersec * 230.0f / 2.0f;
unsigned char message[14] = { 0xaa,0x55,0x0A,0x0c,0x02,0xf0,0x00,0x01,0x04,speedvalue % 256,speedvalue >>8,0x01,0x00, 0x00 };
message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^ message[7] ^ message[8] ^ message[9] ^ message[10] ^ message[11] ^ message[12];
unsigned char message[14] = {0xaa,
0x55,
0x0A,
0x0c,
0x02,
0xf0,
0x00,
0x01,
0x04,
speedvalue % 256,
speedvalue >> 8,
0x01,
0x00,
0x00};
message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
message[7] ^ message[8] ^ message[9] ^ message[10] ^
message[11] ^ message[12];
uint32_t pocet;
pocet=write(HCom,&message,14);
pocet = write(HCom, &message, 14);
}
void CKobuki::setArcSpeed(int mmpersec, int radius)
{
void CKobuki::setArcSpeed(int mmpersec, int radius) {
if (radius == 0) {
setTranslationSpeed(mmpersec);
return;
}
int speedvalue = mmpersec * ((radius + (radius>0? 230:-230) )/ 2 ) / radius;
unsigned char message[14] = { 0xaa,0x55,0x0A,0x0c,0x02,0xf0,0x00,0x01,0x04,speedvalue % 256,speedvalue >>8,radius % 256,radius >>8, 0x00 };
message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^ message[7] ^ message[8] ^ message[9] ^ message[10] ^ message[11] ^ message[12];
int speedvalue =
mmpersec * ((radius + (radius > 0 ? 230 : -230)) / 2) / radius;
unsigned char message[14] = {0xaa,
0x55,
0x0A,
0x0c,
0x02,
0xf0,
0x00,
0x01,
0x04,
speedvalue % 256,
speedvalue >> 8,
radius % 256,
radius >> 8,
0x00};
message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
message[7] ^ message[8] ^ message[9] ^ message[10] ^
message[11] ^ message[12];
uint32_t pocet;
pocet=write(HCom,&message,14);
pocet = write(HCom, &message, 14);
}
void CKobuki::setSound(int noteinHz, int duration)
{
int notevalue = floor((double)1.0 / ((double)noteinHz*0.00000275) + 0.5);
unsigned char message[9] = { 0xaa,0x55,0x05,0x03,0x03,notevalue%256,notevalue>>8,duration%256,0x00 };
message[8] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^ message[7];
void CKobuki::setSound(int noteinHz, int duration) {
int notevalue = floor((double)1.0 / ((double)noteinHz * 0.00000275) + 0.5);
unsigned char message[9] = {0xaa, 0x55, 0x05,
0x03, 0x03, notevalue % 256,
notevalue >> 8, duration % 256, 0x00};
message[8] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
message[7];
uint32_t pocet;
pocet=write(HCom,&message,9);
pocet = write(HCom, &message, 9);
}
void CKobuki::startCommunication(char * portname, bool CommandsEnabled, void *userDataL)
{
void CKobuki::startCommunication(char *portname, bool CommandsEnabled,
void *userDataL) {
connect(portname);
enableCommands(CommandsEnabled);
userData = userDataL;
int pthread_result;
pthread_result = pthread_create(&threadHandle,NULL,KobukiProcess,(void *)this);
pthread_result =
pthread_create(&threadHandle, NULL, KobukiProcess, (void *)this);
}
int CKobuki::measure()
{
while (stopVlakno==0)
{
int CKobuki::measure() {
while (stopVlakno == 0) {
unsigned char *message = readKobukiMessage();
if (message == NULL)
{
if (message == NULL) {
// printf("vratil null message\n");
continue;
}
int ok=parseKobukiMessage(data,message);
int ok = parseKobukiMessage(data, message);
//maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame citat
if (ok == 0)
{
// maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame
// citat
if (ok == 0) {
loop(userData, data);
}
free(message);
@@ -278,31 +281,28 @@ int CKobuki::measure()
return 0;
}
int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
{
int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
int rtrnvalue = checkChecksum(data);
//ak je zly checksum,tak kaslat na to
// ak je zly checksum,tak kaslat na to
if (rtrnvalue != 0)
return -2;
int checkedValue = 1;
//kym neprejdeme celu dlzku
while (checkedValue < data[0])
{
//basic data subload
if (data[checkedValue] == 0x01)
{
// kym neprejdeme celu dlzku
while (checkedValue < data[0]) {
// basic data subload
if (data[checkedValue] == 0x01) {
checkedValue++;
if (data[checkedValue ] != 0x0F)
if (data[checkedValue] != 0x0F)
return -1;
checkedValue++;
output.timestamp = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.BumperCenter = data[checkedValue ] && 0x02;
output.BumperCenter = data[checkedValue] && 0x02;
output.BumperLeft = data[checkedValue] && 0x04;
output.BumperRight = data[checkedValue] && 0x01;
checkedValue++;
output.WheelDropLeft= data[checkedValue] && 0x02;
output.WheelDropLeft = data[checkedValue] && 0x02;
output.WheelDropRight = data[checkedValue] && 0x01;
checkedValue++;
output.CliffCenter = data[checkedValue] && 0x02;
@@ -313,9 +313,9 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
checkedValue += 2;
output.EncoderRight = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.PWMleft = data[checkedValue] ;
output.PWMleft = data[checkedValue];
checkedValue++;
output.PWMright = data[checkedValue] ;
output.PWMright = data[checkedValue];
checkedValue++;
output.ButtonPress = data[checkedValue];
checkedValue++;
@@ -325,9 +325,7 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
checkedValue++;
output.overCurrent = data[checkedValue];
checkedValue++;
}
else if (data[checkedValue] == 0x03)
{
} else if (data[checkedValue] == 0x03) {
checkedValue++;
if (data[checkedValue] != 0x03)
return -3;
@@ -338,9 +336,7 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
checkedValue++;
output.IRSensorLeft = data[checkedValue];
checkedValue++;
}
else if (data[checkedValue] == 0x04)
{
} else if (data[checkedValue] == 0x04) {
checkedValue++;
if (data[checkedValue] != 0x07)
return -4;
@@ -348,35 +344,32 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
output.GyroAngle = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.GyroAngleRate = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 5;//3 unsued
}
else if (data[checkedValue] == 0x05)
{
checkedValue += 5; // 3 unsued
} else if (data[checkedValue] == 0x05) {
checkedValue++;
if (data[checkedValue] != 0x06)
return -5;
checkedValue++;
output.CliffSensorRight = data[checkedValue + 1] * 256 + data[checkedValue];
output.CliffSensorRight =
data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.CliffSensorCenter = data[checkedValue + 1] * 256 + data[checkedValue];
output.CliffSensorCenter =
data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.CliffSensorLeft = data[checkedValue + 1] * 256 + data[checkedValue];
output.CliffSensorLeft =
data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
}
else if (data[checkedValue] == 0x06)
{
} else if (data[checkedValue] == 0x06) {
checkedValue++;
if (data[checkedValue] != 0x02)
return -6;
checkedValue++;
output.wheelCurrentLeft = data[checkedValue];
checkedValue ++;
output.wheelCurrentRight =data[checkedValue];
checkedValue ++;
checkedValue++;
output.wheelCurrentRight = data[checkedValue];
checkedValue++;
}
else if (data[checkedValue] == 0x0A)
{
} else if (data[checkedValue] == 0x0A) {
checkedValue++;
if (data[checkedValue] != 0x04)
return -7;
@@ -388,9 +381,7 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
output.extraInfo.HardwareVersionMajor = data[checkedValue];
checkedValue += 2;
}
else if (data[checkedValue] == 0x0B)
{
} else if (data[checkedValue] == 0x0B) {
checkedValue++;
if (data[checkedValue] != 0x04)
return -8;
@@ -402,21 +393,18 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
output.extraInfo.FirmwareVersionMajor = data[checkedValue];
checkedValue += 2;
}
else if (data[checkedValue] == 0x0D)
{
} else if (data[checkedValue] == 0x0D) {
checkedValue++;
if (data[checkedValue]%2 !=0)
if (data[checkedValue] % 2 != 0)
return -9;
checkedValue++;
output.frameId = data[checkedValue];
checkedValue++;
int howmanyFrames = data[checkedValue]/3;
int howmanyFrames = data[checkedValue] / 3;
checkedValue++;
output.gyroData.reserve(howmanyFrames);
output.gyroData.clear();
for (int hk = 0; hk < howmanyFrames; hk++)
{
for (int hk = 0; hk < howmanyFrames; hk++) {
TRawGyroData temp;
temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
@@ -426,9 +414,7 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
checkedValue += 2;
output.gyroData.push_back(temp);
}
}
else if (data[checkedValue] == 0x10)
{
} else if (data[checkedValue] == 0x10) {
checkedValue++;
if (data[checkedValue] != 0x10)
return -10;
@@ -442,25 +428,29 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
output.analogInputCh2 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh3 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 8;//2+6
checkedValue += 8; // 2+6
}
else if (data[checkedValue] == 0x13)
{
} else if (data[checkedValue] == 0x13) {
checkedValue++;
if (data[checkedValue] != 0x0C)
return -11;
checkedValue++;
output.extraInfo.UDID0 = data[checkedValue + 3] * 256*256*256+ data[checkedValue + 2] * 256*256+ data[checkedValue + 1] * 256 + data[checkedValue];
output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
output.extraInfo.UDID1 = data[checkedValue + 3] * 256 * 256 * 256 + data[checkedValue + 2] * 256 * 256 +data[checkedValue + 1] * 256 + data[checkedValue];
output.extraInfo.UDID1 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
output.extraInfo.UDID2 = data[checkedValue + 3] * 256 * 256 * 256 + data[checkedValue + 2] * 256 * 256 +data[checkedValue + 1] * 256 + data[checkedValue];
output.extraInfo.UDID2 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
}
else
{
} else {
checkedValue++;
checkedValue += data[checkedValue] + 1;
}
@@ -468,28 +458,17 @@ int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char * data)
return 0;
}
long double CKobuki::gyroToRad(signed short GyroAngle) {
long double ret;
if (GyroAngle < 0) {
ret = GyroAngle + 36000;
}
else {
} else {
ret = GyroAngle;
}
return (long double) ret*PI/18000.0;
return (long double)ret * PI / 18000.0;
}
long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
if (iterationCount == 0) {
prevLeftEncoder = Kobuki_data.EncoderLeft;
@@ -501,76 +480,72 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
int dLeft;
if (abs(Kobuki_data.EncoderLeft - prevLeftEncoder) > 32000) {
dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder + (Kobuki_data.EncoderLeft > prevLeftEncoder ? -65536 : +65536);
}
else {
dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder +
(Kobuki_data.EncoderLeft > prevLeftEncoder ? -65536 : +65536);
} else {
dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder;
}
int dRight;
if (abs(Kobuki_data.EncoderRight - prevRightEncoder) > 32000) {
dRight = Kobuki_data.EncoderRight - prevRightEncoder + (Kobuki_data.EncoderRight > prevRightEncoder ? -65536 : +65536);
}
else {
dRight = Kobuki_data.EncoderRight - prevRightEncoder +
(Kobuki_data.EncoderRight > prevRightEncoder ? -65536 : +65536);
} else {
dRight = Kobuki_data.EncoderRight - prevRightEncoder;
}
long double dGyroTheta = prevGyroTheta - gyroToRad(Kobuki_data.GyroAngle);
if (dGyroTheta > PI) {
dGyroTheta -= 2*PI;
dGyroTheta -= 2 * PI;
}
if (dGyroTheta < -1*PI) {
dGyroTheta += 2*PI;
if (dGyroTheta < -1 * PI) {
dGyroTheta += 2 * PI;
}
gyroTheta += dGyroTheta;
uint16_t dTimestamp = Kobuki_data.timestamp - prevTimestamp;
long double mLeft = dLeft*tickToMeter;
long double mRight = dRight*tickToMeter;
long double mLeft = dLeft * tickToMeter;
long double mRight = dRight * tickToMeter;
if (mLeft == mRight) {
x = x + mRight;
} else {
x = x + (b*(mRight+mLeft))/(2*(mRight-mLeft))*(sin((mRight-mLeft)/b + theta) - sin(theta));
y = y + (b*(mRight+mLeft))/(2*(mRight-mLeft))*(cos((mRight-mLeft)/b + theta) - cos(theta));
theta = (mRight-mLeft)/b + theta;
x = x + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
(sin((mRight - mLeft) / b + theta) - sin(theta));
y = y + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
(cos((mRight - mLeft) / b + theta) - cos(theta));
theta = (mRight - mLeft) / b + theta;
}
displacement = (mRight + mLeft)/2;
displacement = (mRight + mLeft) / 2;
integratedGyroTheta = integratedGyroTheta + dGyroTheta;
gx = gx + displacement * cos(integratedGyroTheta + dGyroTheta / 2);
gy = gy + displacement * sin(integratedGyroTheta + dGyroTheta / 2);
totalLeft +=dLeft;
totalRight +=dRight;
totalLeft += dLeft;
totalRight += dRight;
// ak je suma novej a predchadzajucej vacsia ako 65536 tak to pretieklo?
directionL = (prevLeftEncoder < Kobuki_data.EncoderLeft ? 1 : -1);
directionR = (prevRightEncoder < Kobuki_data.EncoderRight ? 1 : -1);
dTimestamp = (Kobuki_data.timestamp < prevTimestamp ? prevTimestamp - Kobuki_data.timestamp + 65536 : dTimestamp);
dTimestamp = (Kobuki_data.timestamp < prevTimestamp
? prevTimestamp - Kobuki_data.timestamp + 65536
: dTimestamp);
prevLeftEncoder = Kobuki_data.EncoderLeft;
prevRightEncoder = Kobuki_data.EncoderRight;
prevTimestamp = Kobuki_data.timestamp;
prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
// std::cout << "X: " << x
// << " Y: " << y
// << " Theta: " << theta
// << "Gyro theta:" << gyroTheta
// << std::endl;
// std::cout << "X: " << x
// << " Y: " << y
// << " Theta: " << theta
// << "Gyro theta:" << gyroTheta
// << std::endl;
static long counter = 0;
@@ -586,13 +561,10 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
return 0;
}
// povie kobukimu ze ma ist niekolko metrov dopredu alebo dozadu, rozhoduje znamienko
// funkcia kompenzuje chodenie rovno pomocou regulatora, interne vyuziva setArcSpeed a
// ako spatnu vazbu pouziva data z enkoderov
void CKobuki::goStraight(long double distance){
// povie kobukimu ze ma ist niekolko metrov dopredu alebo dozadu, rozhoduje
// znamienko funkcia kompenzuje chodenie rovno pomocou regulatora, interne
// vyuziva setArcSpeed a ako spatnu vazbu pouziva data z enkoderov
void CKobuki::goStraight(long double distance) {
long double u_translation = 0; // riadena velicina, rychlost robota pri pohybe
long double w_translation = distance; // pozadovana hodnota
@@ -614,13 +586,13 @@ void CKobuki::goStraight(long double distance){
long i = 5;
while (fabs(x - w_translation) > 0.005 && x<w_translation) {
while (fabs(x - w_translation) > 0.005 && x < w_translation) {
e_translation = w_translation - x;
u_translation = Kp_translation * e_translation;
e_rotation = w_rotation - theta;
if (!e_rotation == 0) u_rotation = Kp_rotation / e_rotation;
if (!e_rotation == 0)
u_rotation = Kp_rotation / e_rotation;
// limit translation speed
if (u_translation > upper_thresh_translation)
@@ -643,23 +615,21 @@ void CKobuki::goStraight(long double distance){
this->setArcSpeed(u_translation, u_rotation);
usleep(25*1000);
usleep(25 * 1000);
// increment starting speed
i = i + translation_start_gain;
}
this->setTranslationSpeed(0);
}
/// the method performs the rotation, it rotates using the regulator, the gyroscope serves as feedback,
/// because it is much more accurate than encoders
/// the method performs the rotation, it rotates using the regulator, the
/// gyroscope serves as feedback, because it is much more accurate than encoders
void CKobuki::doRotation(long double th) {
long double u = 0; // riadena velicina, uhlova rychlost robota pri pohybe
long double w = th; // pozadovana hodnota v radianoch
long double Kp = PI;
long double e = 0;
int thresh = PI/2;
int thresh = PI / 2;
theta = 0;
x = 0;
@@ -671,28 +641,31 @@ void CKobuki::doRotation(long double th) {
if (w > 0) {
while (gyroTheta < w) {
e = w - gyroTheta;
u = Kp*e;
u = Kp * e;
if (u > thresh) u = thresh;
if (u < 0.4) u = 0.4;
if (u > thresh)
u = thresh;
if (u < 0.4)
u = 0.4;
if (i < u) {
u = i;
}
std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
this->setRotationSpeed(-1*u);
usleep(25*1000);
this->setRotationSpeed(-1 * u);
usleep(25 * 1000);
i = i + 0.1;
}
}
else {
} else {
while (gyroTheta > w) {
e = w - gyroTheta;
u = Kp*e*-1;
u = Kp * e * -1;
if (u > thresh) u = thresh;
if (u < 0.4) u = 0.4;
if (u > thresh)
u = thresh;
if (u < 0.4)
u = 0.4;
if (i < u) {
u = i;
@@ -700,7 +673,7 @@ void CKobuki::doRotation(long double th) {
std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
this->setRotationSpeed(u);
usleep(25*1000);
usleep(25 * 1000);
i = i + 0.1;
}
}
@@ -708,21 +681,20 @@ void CKobuki::doRotation(long double th) {
std::cout << "stop the fuck!" << std::endl;
// usleep(25*1000);
this->setRotationSpeed(0);
usleep(25*1000);
usleep(25 * 1000);
}
// kombinuje navadzanie na suradnicu a rotaciu o uhol, realizuje presun na zvolenu suradnicu
// v suradnicovom systeme robota
// kombinuje navadzanie na suradnicu a rotaciu o uhol, realizuje presun na
// zvolenu suradnicu v suradnicovom systeme robota
void CKobuki::goToXy(long double xx, long double yy) {
long double th;
yy = yy*-1;
yy = yy * -1;
th = atan2(yy,xx);
th = atan2(yy, xx);
doRotation(th);
long double s = sqrt(pow(xx,2)+pow(yy,2));
long double s = sqrt(pow(xx, 2) + pow(yy, 2));
// resetnem suradnicovu sustavu robota
x = 0;
@@ -730,11 +702,10 @@ void CKobuki::goToXy(long double xx, long double yy) {
iterationCount = 0;
theta = 0;
//std::cout << "mam prejst: " << s << "[m]" << std::endl;
// std::cout << "mam prejst: " << s << "[m]" << std::endl;
goStraight(s);
usleep(25*1000);
usleep(25 * 1000);
return;
}